I have a codebase of Python and C++ code, including heavy use of ROS. Logging is done throughout the Python code with both system logger and rospy logging — contrived example:
import logging import rospy logging.basicConfig(level=logging.INFO) LOG = logging.getLogger(__name__) def run(): rospy.loginfo("This is a ROS log message") LOG.info("And now from Python") if __name__ == '__main__': runt()
As for C++ code we need to add logging, probably with glog but I’m open to other options.
Is there a way to integrate the various loggers into one module? Ideally a user could do something like my_logger = AwesomeLogger(level='info', output='my_logs.txt')
and then AwesomeLogger
behind the scenes sets up the Python and C++ loggers, and combines all log outputs (including from ROS) into clean console messages output text file.
Note we target support for ubuntu 16.04, ROS-kinetic, C++11, Python 2.7*
*If a solution provides rational for moving to Python 3.6 you get bonus points!
UPDATE If I load a dict config from yaml (as described in this post on logging best practices I can specify handlers and loggers for ROS. But with the yaml below I get duplicated rospy log messages to the console, one in the standard rospy log format and the other in my specified format. Why??
version: 1 disable_existing_loggers: True formatters: my_std: format: "%(asctime)s - %(name)s - %(levelname)s - %(message)s" datefmt: "%Y/%m/%d %H:%M:%S" handlers: console: class: logging.StreamHandler formatter: my_std level: DEBUG stream: ext://sys.stdout info_file_handler: class: logging.handlers.RotatingFileHandler level: INFO formatter: my_std filename: info.log maxBytes: 10485760 # 10MB backupCount: 20 encoding: utf8 rosconsole: class: rosgraph.roslogging.RosStreamHandler level: DEBUG formatter: my_std colorize: True loggers: my_module: level: INFO handlers: [console] propagate: no rosout: level: INFO handlers: [rosconsole] propagate: yes qualname: rosout root: level: INFO handlers: [console, info_file_handler, rosconsole]
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Answer
This config yaml does the trick:
version: 1 disable_existing_loggers: True formatters: my_std: format: "%(asctime)s - %(name)s - %(levelname)s - %(message)s" datefmt: "%Y/%m/%d %H:%M:%S" handlers: console: class: logging.StreamHandler formatter: my_std level: DEBUG stream: ext://sys.stdout info_file_handler: class: logging.handlers.RotatingFileHandler level: INFO formatter: my_std filename: info.log maxBytes: 10485760 # 10MB backupCount: 20 encoding: utf8 loggers: __main__: level: DEBUG handlers: [console] propagate: no rosout: level: INFO propagate: yes qualname: rosout root: level: INFO handlers: [console, info_file_handler]
And to load it,
import logging import yaml if os.path.exists(config_path): with open(config_path, 'rt') as f: config = yaml.safe_load(f.read()) logging.config.dictConfig(config)